########################################
# HD1000  manual handler device
# operation_mode
uint8 AUTO      = 3
uint8 LOCAL     = 2   #本地自动模式
uint8 HALFAUTO  = 1
uint8 MANUAL    = 0

# button_index
int16 AUTO_BIT      = 0
int16 HALFAUTO_BIT  = 1
int16 MANUAL_BIT    = 2
int16 FORWARD_BIT   = 3
int16 LOW_MOVE_BIT  = 4
int16 HIGH_MOVE_BIT = 5
int16 RESET_BIT     = 6
int16 LOAD1_UP_BIT  = 7
int16 LOAD1_DOWN_BIT= 8
int16 LOAD2_LEFT_BIT= 9
int16 LOAD2_RIGHT_BIT= 10
int16 ESTOP_BIT     = 11
int16 BACKWARD_BIT  = 12
int16 DEADMAN_BIT   = 13
int16 ESTOP_LED_BIT = 14
int16 ONTRACK_LED_BIT= 15
int16 MODE_LED_BIT  = 16

#######################################
# Messages！！！
########################################
int16   angle   #[-15000 ~ 15000]= {-150° ~ 150°}
int16   speed   #[0 ~ 100 ]= {0% ~ 100%}
uint16  buttons 
uint8   operation_mode 
bool    auto_mode             
bool    halfauto_mode 
bool    manual_mode 
bool    forward 
bool    low_move 
bool    high_move 
bool    reset
bool    load1_up
bool    load1_down
bool    load2_left
bool    load2_right
bool    e_stop
bool    backward
bool    deadman
bool    estop_led
bool    ontrack_led
bool    mode_led
bool    valid
float32 resultant_vel
float32 acc
float32 jerk
